My research topic for M.S was "the development of two-wheeled mobile platform" and "human-friendly motion control of of two-wheeled mobile platform by reduced-order disturbance observer". I developed two-wheeled mobile platform like segway and called it "Huboway". Because it used as a transporter of humanoid robot, hubo. The human also can ride huboway as a transporter.

My current research topic is "hydrolic biped humanoid robot, Sarcos primus system". My research goal is more natural, stable and reliable walking of sarcos.